Routing unmanned vehicles in GPS-denied environments

Sundar, Kaarthik; Misra, Sohum; Rathinam, Sivakumar; Sharma, Rajnikant

doi:10.1109/icuas.2017.7991488

Cited by 17 publications

(15 citation statements)

References 22 publications

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“…In the latter paper, the authors simultaneously plan tours of drones to perform a given set of tasks and decide on the placement of automatic service centers where the drones can replenish their energy. Sundar et al decide on positioning of the landmarks, that is, recognizable building structures, to enable localization of drones in a GPS‐denied environment. Kim et al formulate the facility location problem to position drone depots; drones serve patients in the rural area by delivering medicines and picking up blood samples and urine.…”

Section: Strategic Tactical and Operational Issues Linked To Drone mentioning

confidence: 99%

“…Most articles aim at minimizing total cost , taking both the fixed cost of opening an additional facility and inventory holding cost into account. In disaster applications, urgency‐related objectives, such as average lead time for deliveries and total travel time for people and vehicles , gain importance.…”

Section: Strategic Tactical and Operational Issues Linked To Drone mentioning

confidence: 99%

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Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

et al. 2018

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Unmanned aerial vehicles (UAVs), or aerial drones, are an emerging technology with significant market potential. UAVs may lead to substantial cost savings in, for instance, monitoring of difficult‐to‐access infrastructure, spraying fields and performing surveillance in precision agriculture, as well as in deliveries of packages. In some applications, like disaster management, transport of medical supplies, or environmental monitoring, aerial drones may even help save lives. In this article, we provide a literature survey on optimization approaches to civil applications of UAVs. Our goal is to provide a fast point of entry into the topic for interested researchers and operations planning specialists. We describe the most promising aerial drone applications and outline characteristics of aerial drones relevant to operations planning. In this review of more than 200 articles, we provide insights into widespread and emerging modeling approaches. We conclude by suggesting promising directions for future research.

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Section: Strategic Tactical and Operational Issues Linked To Drone mentioning

confidence: 99%

Section: Strategic Tactical and Operational Issues Linked To Drone mentioning

confidence: 99%

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

et al. 2018

View full text Add to dashboard Cite

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“…If the environment can be freely structured, e.g., by placing landmarks, beacons, or other sensors, positioning information may be obtained similar to the one provided by GNSS. Once such landmarks have been identified, the navigation problem can be solved, e.g., as presented in works by the authors of [7,8]. Another solution is given by ultrawideband (UWB) positioning [9,10].…”

Section: Background and Motivationsmentioning

confidence: 99%

Photometric Long-Range Positioning of LED Targets for Cooperative Navigation in UAVs

Jospin

Stoven-Dubois

Cucci

2019

Drones

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Autonomous flight with unmanned aerial vehicles (UAVs) nowadays depends on the availability and reliability of Global Navigation Satellites Systems (GNSS). In cluttered outdoor scenarios, such as narrow gorges, or near tall artificial structures, such as bridges or dams, reduced sky visibility and multipath effects compromise the quality and the trustworthiness of the GNSS position fixes, making autonomous, or even manual, flight difficult and dangerous. To overcome this problem, cooperative navigation has been proposed: a second UAV flies away from any occluding objects and in line of sight from the first and provides the latter with positioning information, removing the need for full and reliable GNSS coverage in the area of interest. In this work we use high-power light-emitting diodes (LEDs) to signalize the second drone and we present a computer vision pipeline that allows to track the second drone in real-time from a distance up to 100 m and to compute its relative position with decimeter accuracy. This is based on an extension to the classical iterative algorithm for the Perspective-n-Points problem in which the photometric error is minimized according to a image formation model. This extension allow to substantially increase the accuracy of point-feature measurements in image space (up to 0.05 pixels), which directly translates into higher positioning accuracy with respect to conventional methods.

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“…The idea of using landmarks to aid in localization has been addressed previously in [14], [16]. There are also a number of techniques that use so-called proxy landmarks arXiv:1802.07652v2 [math.OC] 10 Jul 2018…”

Section: A Related Workmentioning

confidence: 99%

Landmark Placement for Localization in a GPS-denied Environment

Sundar

Srinivasan

Misra

et al. 2018

2018 Annual American Control Conference (ACC)

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Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can render these plans and algorithms ineffective. This article provides a way of addressing this issue by utilizing stationary landmarks to aid localization in such GPS-disrupted or GPSdenied environment. In particular, given the vehicle's path, we formulate a landmark-placement problem and present algorithms to place the minimum number of landmarks while satisfying the localization, sensing, and collision-avoidance constraints. The performance of such a placement is also evaluated via extensive simulations on ground robots.

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Routing unmanned vehicles in GPS-denied environments

Cited by 17 publications

References 22 publications

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

Photometric Long-Range Positioning of LED Targets for Cooperative Navigation in UAVs

Landmark Placement for Localization in a GPS-denied Environment

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